• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.4
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• pp.30-39
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• 2001

This paper investigates vibrational motion of a flexible beam fixed on a moving cart and carrying a moving mass. The equations of motion of the beam-mass-cart system are analysed through the unconstrained modal analysis. The exact normal mode solution used in modal analysis correspond to the eigenfrequencies for each position of the moving mass and to the ratios of the weight of the beam-mass-car system. Time solutions of normal modes are also transformed properly according to the position of the moving mass. Numerical simulations are carried out to obtain open-loop responses of the system in tracking pre-designed paths of the moving mass. The simulation results show that the model predicts the dynamic behavior of the beam-mass-cart system well. Experiments are carried out to show the validity of the proposed analytical method.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.8
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• pp.108-114
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• 1997

A simple and efficient method is presented for the dynamics of interconnected flexible beams having large rigid body rotations. A simple mass matrix is obtained by interpolating the displacements in the global inertia frame, and the elastic force is also simply computed by using linear finite element technique with the moving frame attached to the beam. For the beams connected by revolute joints, kinematic constraints and relative rotations between the beans are not required and the equations of motions are time integrated by a simple ODE technique. Numerical simulations are conducted to demonstrate the accuracy and efficiency of the present technique.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.702-707
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• 2000

Under the rapid change of a new vehicle model, it is necessary to develop a durability analysis technique using computer simulation. In order to do this. reliable dynamic stress-time history for the vehicle components must be calculated on various road conditions. In this paper, a full vehicle simulation model which is composed of flexible frame and chassis components is proposed and verified its reliability from the comparison with field test data. Finally, dynamic stress-time history on the rear chassis components is predicted with hybrid and modal superposition method.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2017.05a
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• pp.240-241
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• 2017

In this stduy, we will references to provide reasonable basis for the test environments applicable to the chemical resistance test covered by KS F 4935 『Injection-type Sealing Materials for Water Leakage Crack of Adhesive and Flexible Rubber Asphalt』, analyze the problems with the current test methods in consideration of the features of materials. As a result, we assured more objective data in improved chemical resistance test methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.1
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• pp.183-193
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• 1994

The dynamic equation of a flexible robot manipulator is formulated by the assumed-mode method and the Lagrange equation. The controller is designed for a flexible robot manipulator including a joint actuator. The controller consists of a parmaeter estimator and the adaptive controller. A parameter estimator evaluates ARMA model`s parameter using RLS algorithm. An adaptive controller is designed based on a reference model and a minimum prediction error controller.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.2 s.179
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• pp.113-121
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• 2006

This paper established the dynamic model of a flexible Timoshenko beam capable of geometrical nonlinearities subject to large overall motions by using the finite element method. Equations of motion are derived by using Hamilton principle and are formulated in terms of finite elements using CO elements in which the nonlinear constraint equations are adjoined to the system using Lagrange multipliers. In the final formulation are presented Coriolis and Gyroscopic forces as well as linear and nonlinear stiffnesses effects for the forthcoming numerical computation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.388-391
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• 2006

In the development of sheet-handling machinery, it is important to predict the static and dynamic behavior of the sheets with a high degree of reliability because the sheets are fed and stacked at such a high speed. Flexible media behaves geometric nonlinearity of large displacement and small strain. In this paper, static and dynamic analyses of flexible media are performed by FEM considering geometric nonlinearity. Linear stiffness matrix and geometric nonlinear stiffness matrix based on the Co-rotational(CR) approach are derived and numerical simulations are performed by Updated Newton-Raphson(UNR) method and Newmark integration scheme.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2005.11a
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• pp.79-83
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• 2005

In the reinforced concrete structure, Even if speak that water leakage occurrence is no problem to material, there is a lot of reasons construction factor, material damage by behavior structure, properties of matter change by years and water leakage part by environment condition. so, waterproofing technological consideration should be gone ahead. In this research, we will study about stick performance, concrete surface adhesive, damage and blow. we will check all things and test it. The stick expansion type complex of flexible material passed on result of standard. It is conducive to concrete of durability by waterproofing layer performance demobilitation technology on the water leakage structure for solution of problem and repair

• Journal of the Korean Institute of Telematics and Electronics
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• v.23 no.2
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• pp.189-196
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• 1986

Linear second-order matrix systems representing dynamics of large flexible structures are recast in a state space form. By can efficient partial decoupling technique, a few of low frequency modes are decoupled from the rest of modes, and an optimal control procedure is developed in such a way that damping is added to the selected modes without control spillover to uncontrolled modes. Since the partial decoupling requires only eigenvectors of the sected modes, the computing time can be reduced significantly in large systems. Therefore, the method of partial decoupling and control developed in this work may be applicable to vibration contorl of large flexible space structures.